#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char *argv[])
{
    setlocale(LC_ALL, "");

    ros::init(argc, argv, "control_car");

    ros::NodeHandle nh;

    ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 10);

    geometry_msgs::Twist msg;
    msg.linear.x = 0.3;
    msg.linear.y = 0.0;
    msg.linear.z = 0.0;
    msg.angular.x = 0.0;
    msg.angular.y = 0.0;
    msg.angular.z = 0.5;

    ros::Rate rate(10);

    while (ros::ok())
    {
        pub.publish(msg);
        ros::spinOnce();
    }
    
    
    return 0;
}
